双目导引型搬运机器人协同路径跟踪控制优化研究  

Optimization of Guidance Control for Binocular Multi-Motion Robot with Omnidirectional Configuration

作　　者：苏琦 Su Qi(Department of Electrical Engineering,Zhengzhou Institute of Industrial Technicians,Zhengzhou Henan 451150,China)

机构地区：[1]郑州工业技师学院电气工程系,河南郑州451150

出　　处：《现代工业经济和信息化》2025年第3期97-98,101,共3页Modern Industrial Economy and Informationization

摘　　要：为了进一步提高协同控制能力,以双目导引型搬运机器人为例开展人协同路径跟踪控制优化分析。研究结果表明:加强学习算法改进可以缩短其达到稳定状态的时间,减小系统的稳态误差。机器人位姿误差均方值为1.1°,平均结果为-1.8°。采用加强学习方法可以使系统对目标的控制状态更加稳定。在全向构形下,垂直运动自由度增大,横向定位误差减小。该研究有助于提高搬运机器人协同工作效率,对后续参数控制优化起到一定的支撑作用。In order to further improve the cooperative control ability,a binocular guided transport robot is taken as an example to carry out the optimization analysis of human cooperative path tracking control.The results show that the improved learning algorithm can shorten the time to reach the stable state and reduce the steady-state error of the system.The mean square value of robot pose error is 1.1°,and the average result is-1.8°.The reinforcement learning method can make the control state of the system more stable.In the omnidirectional configuration,the degree of freedom of vertical motion increases and the lateral positioning error decreases.This research is helpful to improve the cooperative working efficiency of handling robots,and plays a certain supporting role in the subsequent parameter control optimization.

关 键 词：搬运机器人 双目导引 协同运动 跟踪控制 

分 类 号：TH137[机械工程—机械制造及自动化]